#include "rclcpp/rclcpp.hpp"
#include "rtk_interface/msg/rtkmsg.hpp"
#include "serial/serial.h"

#include <boost/algorithm/string.hpp>

#include "rtk_pub/utm.h"

namespace NightFall
{
    class RTK : public rclcpp::Node
    {
    private:
        rclcpp::Publisher<rtk_interface::msg::RTKMSG>::SharedPtr rtk_pub_;

        void getParam();

        int baudrate_;
        std::string port_;

        serial::Serial ser_;

        rtk_interface::msg::RTKMSG rtk_msg_;


    public:
        RTK();
        int serialIntialize();
        void pubRtkMsg();
        ~RTK();
    };
} // namespace NightFall
